public AbstractThreadedRobotController(String name) { this.name = name; this.registry = new YoVariableRegistry(name); this.currentControlTick = new YoLong("currentControlTick", registry); this.yoTime = new YoDouble("time", registry); this.simulatedRobot = null; }
public AbstractThreadedRobotController(String name, Robot simulatedRobot) { this.name = name; this.registry = new YoVariableRegistry(name); this.currentControlTick = new YoLong("currentControlTick", registry); this.yoTime = simulatedRobot.getYoTime(); this.simulatedRobot = simulatedRobot; }
public YoMultipleFramesHelper(String namePrefix, YoVariableRegistry registry, ReferenceFrame... referenceFrames) { if (referenceFrames == null || referenceFrames.length == 0) throw new RuntimeException("Need to provide at least one ReferenceFrame."); currentFrameId = new YoLong(namePrefix + "FrameId", registry); currentFrameId.set(referenceFrames[0].hashCode()); for (ReferenceFrame referenceFrame : referenceFrames) { this.registerReferenceFrame(referenceFrame); } }
private void createVariables() { for (int i = 0; i < variablesPerType; i++) { new YoBoolean("Boolean" + i, registry); new YoDouble("Double" + i, registry); new YoInteger("Integer" + i, registry); new YoLong("Long" + i, registry); new YoEnum<>("Enum" + i, registry, SomeEnum.class, random.nextBoolean()); } }
public AcsellState(String name, double dt, AcsellRobot robot, YoVariableRegistry parentRegistry) { registry = new YoVariableRegistry(name); lastReceivedTime = new YoLong("lastReceivedTime", registry); timeSincePreviousPacket = new YoLong("timeSincePreviousPacket", registry); stateCollectionStartTime = new YoLong("stateCollectionStartTime", registry); stateCollectionFinishTime = new YoLong("stateCollectionFinishTime", registry); if(robot==AcsellRobot.WANDERER) this.powerDistributionState = new WandererPowerDistributionADCState("powerDistribution", registry); else this.powerDistributionState = new StepprPowerDistributionADCState("powerDistribution", registry); totalMotorPower = new YoDouble("totalMotorPower", registry); xsens = new AcsellXSensState("xsens", robot, registry); actuatorStates = createActuators(); jointStates = createJoints(); for (RobotSide robotSide : RobotSide.values) { footWrenches.put(robotSide, new DenseMatrix64F(6, 1)); } parentRegistry.addChild(registry); }
YoLong longVar = new YoLong(name, parent); variableList.add(longVar); break;
this.slowSensorConstants = slowSensorConstants; this.SensedCurrentToTorqueDirection = actuator.getSensedCurrentToTorqueDirection(); this.microControllerTime = new YoLong(name + "MicroControllerTime", registry); this.actualActuatorDT = new YoLong(name + "ActualDT", registry); this.lastReceivedControlID = new YoLong(name + "LastReceivedControlID", registry); this.consecutivePacketDropCount = new YoLong(name + "ConsecutivePacketDropCount", registry); this.totalPacketDropCount = new YoLong(name + "TotalPacketDropCount", registry); this.checksumFailures = new YoLong("checksumFailures", registry);
public YoStopwatch(String name, YoDouble timeYoVariable, YoVariableRegistry registry) { this(timeYoVariable); yoLapStart = new YoDouble(name + "LapStart", registry); yoLapCount = new YoLong(name + "LapCount", registry); yoRecordedLapTotal = new YoDouble(name + "RecordedLapTotal", registry); yoSuspended = new YoBoolean(name + "Suspended", registry); yoSuspendStart = new YoDouble(name + "SuspendStart", registry); yoResumedSuspensionTotal = new YoDouble(name + "ResumedSuspensionTotal", registry); yoLapStart.setToNaN(); }
public ExecutionTimer(String name, double measurementDelayInSeconds, YoVariableRegistry registry) { this.measurementDelay = Conversions.secondsToNanoseconds(measurementDelayInSeconds); current = new YoDouble(name + "Current", registry); average = new YoDouble(name + "Average", registry); movingAverage = new SimpleMovingAverageFilteredYoVariable(name + "MovingAverage", 100, current, registry); standardDeviation = new YoDouble(name + "StandardDeviation", registry); maximum = new YoDouble(name + "Maximum", registry); count = new YoLong(name + "Count", registry); }
/** * Creates a new YoLong with the same parameters as this one, and registers it to the passed {@link YoVariableRegistry}. * * @param newRegistry YoVariableRegistry to duplicate this YoLong to * @return the newly created and registered YoLong */ @Override public YoLong duplicate(YoVariableRegistry newRegistry) { YoLong retVar = new YoLong(getName(), getDescription(), newRegistry, getManualScalingMin(), getManualScalingMax()); retVar.set(getLongValue()); return retVar; }
this.timestamp = new YoLong("timestamp", getRobotsYoVariableRegistry()); this.robotTime = new YoDouble("robotTime", getRobotsYoVariableRegistry());
this.corruptedPackets = new YoLong("corruptedPackets", sensorReaderRegistry);
newVariable = new YoLong(name, description, parent); break;
nanosecondstime = new YoLong("longtime", registry); total_time = new YoDouble("time", registry); startTime = new YoDouble("startTime", registry); walking_time = new YoDouble("walkingtime", registry); expo_isWalking = new YoBoolean("walk", registry); startingStepCount = new YoLong("expoStartingStepCount", registry); walking_time = new YoDouble("expoWalkingTime", parentRegistry); expo_isWalking = (YoBoolean) parentRegistry.getVariable("DesiredFootstepCalculatorFootstepProviderWrapper","walk"); startingStepCount = new YoLong("expoStartingStepCount", parentRegistry);